forked from LeenkxTeam/LNXSDK
170 lines
3.7 KiB
C++
170 lines
3.7 KiB
C++
/*
|
|
Bullet Continuous Collision Detection and Physics Library
|
|
Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
|
|
|
|
This software is provided 'as-is', without any express or implied warranty.
|
|
In no event will the authors be held liable for any damages arising from the use of this software.
|
|
Permission is granted to anyone to use this software for any purpose,
|
|
including commercial applications, and to alter it and redistribute it freely,
|
|
subject to the following restrictions:
|
|
|
|
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
|
|
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
|
3. This notice may not be removed or altered from any source distribution.
|
|
*/
|
|
|
|
|
|
#include "btCapsuleShape.h"
|
|
|
|
#include "LinearMath/btQuaternion.h"
|
|
|
|
btCapsuleShape::btCapsuleShape(btScalar radius, btScalar height) : btConvexInternalShape ()
|
|
{
|
|
m_collisionMargin = radius;
|
|
m_shapeType = CAPSULE_SHAPE_PROXYTYPE;
|
|
m_upAxis = 1;
|
|
m_implicitShapeDimensions.setValue(radius,0.5f*height,radius);
|
|
}
|
|
|
|
|
|
btVector3 btCapsuleShape::localGetSupportingVertexWithoutMargin(const btVector3& vec0)const
|
|
{
|
|
|
|
btVector3 supVec(0,0,0);
|
|
|
|
btScalar maxDot(btScalar(-BT_LARGE_FLOAT));
|
|
|
|
btVector3 vec = vec0;
|
|
btScalar lenSqr = vec.length2();
|
|
if (lenSqr < btScalar(0.0001))
|
|
{
|
|
vec.setValue(1,0,0);
|
|
} else
|
|
{
|
|
btScalar rlen = btScalar(1.) / btSqrt(lenSqr );
|
|
vec *= rlen;
|
|
}
|
|
|
|
btVector3 vtx;
|
|
btScalar newDot;
|
|
|
|
|
|
|
|
{
|
|
btVector3 pos(0,0,0);
|
|
pos[getUpAxis()] = getHalfHeight();
|
|
|
|
vtx = pos;
|
|
newDot = vec.dot(vtx);
|
|
if (newDot > maxDot)
|
|
{
|
|
maxDot = newDot;
|
|
supVec = vtx;
|
|
}
|
|
}
|
|
{
|
|
btVector3 pos(0,0,0);
|
|
pos[getUpAxis()] = -getHalfHeight();
|
|
|
|
vtx = pos;
|
|
newDot = vec.dot(vtx);
|
|
if (newDot > maxDot)
|
|
{
|
|
maxDot = newDot;
|
|
supVec = vtx;
|
|
}
|
|
}
|
|
|
|
return supVec;
|
|
|
|
}
|
|
|
|
void btCapsuleShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const
|
|
{
|
|
|
|
|
|
|
|
for (int j=0;j<numVectors;j++)
|
|
{
|
|
btScalar maxDot(btScalar(-BT_LARGE_FLOAT));
|
|
const btVector3& vec = vectors[j];
|
|
|
|
btVector3 vtx;
|
|
btScalar newDot;
|
|
{
|
|
btVector3 pos(0,0,0);
|
|
pos[getUpAxis()] = getHalfHeight();
|
|
vtx = pos;
|
|
newDot = vec.dot(vtx);
|
|
if (newDot > maxDot)
|
|
{
|
|
maxDot = newDot;
|
|
supportVerticesOut[j] = vtx;
|
|
}
|
|
}
|
|
{
|
|
btVector3 pos(0,0,0);
|
|
pos[getUpAxis()] = -getHalfHeight();
|
|
vtx = pos;
|
|
newDot = vec.dot(vtx);
|
|
if (newDot > maxDot)
|
|
{
|
|
maxDot = newDot;
|
|
supportVerticesOut[j] = vtx;
|
|
}
|
|
}
|
|
|
|
}
|
|
}
|
|
|
|
|
|
void btCapsuleShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const
|
|
{
|
|
//as an approximation, take the inertia of the box that bounds the spheres
|
|
|
|
btTransform ident;
|
|
ident.setIdentity();
|
|
|
|
|
|
btScalar radius = getRadius();
|
|
|
|
btVector3 halfExtents(radius,radius,radius);
|
|
halfExtents[getUpAxis()]+=getHalfHeight();
|
|
|
|
btScalar lx=btScalar(2.)*(halfExtents[0]);
|
|
btScalar ly=btScalar(2.)*(halfExtents[1]);
|
|
btScalar lz=btScalar(2.)*(halfExtents[2]);
|
|
const btScalar x2 = lx*lx;
|
|
const btScalar y2 = ly*ly;
|
|
const btScalar z2 = lz*lz;
|
|
const btScalar scaledmass = mass * btScalar(.08333333);
|
|
|
|
inertia[0] = scaledmass * (y2+z2);
|
|
inertia[1] = scaledmass * (x2+z2);
|
|
inertia[2] = scaledmass * (x2+y2);
|
|
|
|
}
|
|
|
|
btCapsuleShapeX::btCapsuleShapeX(btScalar radius,btScalar height)
|
|
{
|
|
m_collisionMargin = radius;
|
|
m_upAxis = 0;
|
|
m_implicitShapeDimensions.setValue(0.5f*height, radius,radius);
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
btCapsuleShapeZ::btCapsuleShapeZ(btScalar radius,btScalar height)
|
|
{
|
|
m_collisionMargin = radius;
|
|
m_upAxis = 2;
|
|
m_implicitShapeDimensions.setValue(radius,radius,0.5f*height);
|
|
}
|
|
|
|
|
|
|
|
|